Plane 4.3.0beta Release


I’ve just released plane 4.3.0beta1. This is the first beta of the 4.3.0 stable release. There are a lot of
changes since the 4.2.3 stable release. Key changes are:

  • added new boards AtomRCF405NAVI, KakuteH7Mini-Nand, SkystarsH7HD
  • added bi-directional dshot for several new boards
  • EK3_GPS_VACC_MAX threshold to control when GPS altitude is used as alt source
  • EKF ring buffer fix for slow sensor updates
  • EKF3 source set change captured in replay logs
  • numerous gimbal support improvements
  • improved RemoteId support
  • SecureBoot support with remote update of secure boot public keys
  • crash_dump.bin file saved to SD Card on startup (includes details re cause of software failures)
  • several new pre-arm checks (AHRS type, scripts, terrain)
  • numerous scripting improvements
  • fixed scripting restart leaking memory
  • Benewake H30 radar support
  • BMI270 IMU performance improvements
  • Logging pause with auxiliary switch
  • TeraRanger Neo rangefinder support
  • support for both AMSL and ellipsoid height in most GPS drivers
  • Custom controller support
  • parameter defaults sent with param FTP and onboard logs
  • Sim on Hardware allows simulator to run on autopilot
  • added Q_LAND_ALTCHG parameter
  • added climb before QRTL for safer QRTL from low altitudes
  • added support for logging pre and post filtered FFT data
  • support triple-notch harmonic notch filter
  • support up to 32 actuators (with SERVO_32_ENABLE parameter)
  • support EFI input over DroneCAN
  • by default only run notch filter on first IMU
  • added ESC_TLM_MAV_OFS parameter for mapping ESCs to MAVLink ESC telemetry
  • added Q_NAVALT_MIN for quadplane takeoff
  • added ICE redline governor
  • added in-flight FFT notch tuning option
  • added Sagetech ADSB support
  • added INS_HNTCH_FM_RAT parameter for handling under-hover throttle
  • improvements to filtering on ICM42xxx IMUs
  • added option parameters to NAV_VTOL_LAND mission item for fixed wing approach

Please report flight tests of the 4.3.0beta series in this forum. Both good and bad results are welcome.

Happy flying!

10 Likes

Hello,

thank you so much for this new version!

Will you implement Precision Landing using IR Lock beacon and a rangefinder for VTOLs in this version?

Thanks a lot

Great, I’ve done multiple tests, the logs are here:

CUAV V5+
CUAV X7+
CUAV X7+ Pro

1 Like

no, sorry, we didn’t get that done. I do intend to add it, but not for 4.3.x

Today I finally had the opportunity to fly with the 4.3.0 beta 1 firmware (on 3 aircraft):

  1. motorglider, Matek F405 Wing, update from 4.2.3 stable
  2. Z84 VTOL Quad, Matek F 765 Wing, update from 4.2.3 stable
  3. mini skywalker, first setup and flight with Matek H743 slim.
    Everything worked fine without problems (MANU, FBWA, QHOVER, transitions, CRUISE, Autostart) including a perfect AngleAssist after stall due to too steep climb of the Z84.

Thanks for the great development.

Rolf

3 Likes

thanks @Rolf, I really appreciate the testing!


I’ve just released plane 4.3.0beta2. This has quite a few changes over beta1

  • fixes for VideoTX, fixing buffer overrun and tramp handling
  • fixed spurious error about sending RPM when RPM disabled
  • fixed an EKF3 lane switch issue that can cause incorrect height with dual GPS
  • fixed mission cmd to mission int initialisation error
  • fixed mission jump tracking init on startup
  • fixed OSD view roll/pitch error for tailsitters
  • added SkystarsH7HD-bdshot
  • fixed SkystarsH7HD VTX control
  • reduced memory usage on MatekF405-CAN board
  • disable SLCAN when armed to reduce CPU load
  • enable CAN battery mon on CUAV V6X by default
  • added arming check for Q_M_SPIN_MIN value too high
  • fixed reporting of RPM from harmonic notch
  • improved handling of airspeed errors and airspeed auto disable
  • fixed SERVO_AUTO_TRIM for multiple outputs of same type
  • fixed auto baud rate detection on SBF/GSOF/NOVA GPS
  • increased max board name length for mavlink statustext to 23
  • fixed incorrect disable of notches for non-throttle notch
  • added notch filter slew limit to reduce notch errors
  • added ARMING_OPTIONS to control display of pre-arm errors
  • several OSD fixes for params, font and resolution
  • support PWM type transmission for CAN PWM output
  • support Currawong ECU as EFI backend
  • support lua scripts for EFI backends
  • implement SkyPower and HFE CAN EFI lua scripts
  • improved speed of log download with dataflash block backends
  • disabled all GPS drivers except uBlox and NMEA on Pixhawk1-1M to save flash
  • disabled all GPS drivers except uBlox on MatekF405-bdshot and omnibusf4pro-bdshot
  • fixed FFT indexing bug
  • added USART2 for AIRLink
  • allow reset to default airspeed using mission item DO_CHANGE_SPEED

Please test this beta if you can. There may be another beta after this one depending on test feedback, or we may go straight to the release.
Happy flying!

1 Like

I,ll be flying this week with 4.3 on one my testing model. Hope all will be ok.


I’ve just released 4.3.0beta3. It has the following changes over beta2:

  • fixed BRD_SAFETY_MASK for enabling outputs when safety on
  • fixed persistence of mapping of CAN airspeed sensors to instances
  • fixed precision of NMEA serial output function
  • added report of “Engine Running” when using ICE
  • fixed handling of defaults.parm files with lines over 100 chars
  • fixed handling of defaults.parm files with no newline on last line
  • fixed possible divide by zero when changing to GUIDED on quadplanes

Many thanks to the users doing testing that found these issues!
I hope this will be the final beta and expect to release 4.3.0 after I do some test flights this weekend.
Please report all test results!

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While testing in the simulator, I discovered an issue with height rate demand oscillations during auto-landings, caused by #20792. I have provided logs and more details in the PR.

Edit: This behavior was triggered by that PR, but the root cause was a too steep glide slope; I don’t think it should oscillate like that, but this was mostly user error.

Please, what does it mean ARSPD_OPTIONS, 11? This option has been changed from orig. option 3 after the upgrade to 4.3.0. Nothing like that is listed in the Complete Parameter List.

It is listed here:
https://ardupilot.org/plane/docs/parameters.html#arspd-options-airspeed-options-bitmask


the value 11 is from a bitmask, 11 = (1<<3) + (1<<1) + (1<<0) so 3 options selected

1 Like